One important distinction of MAMBA communication from other communication protocols [1]}, [2]}, [3]} is that it is not learned from the reward signal. We will refer to our communication protocol as reward-agnostic communication as we use a world model to obtain it, and we will denote communication protocols from [1]}, [2]}, [3]} as goal-oriented communication as they are shaped by the agent's reward. We argue that reward-agnostic communication is more suited for language that describes current environment while goal-oriented communication is more suited for describing agent's task. This duality is mirrored in language theory as representation and acquisition theories respectively [7]}. We can think of reward-agnostic communication as an emergent language that agents cannot alter to their needs but in exchange this language can provide an unbiased representation of the current state of the agent. On the other hand, goal-oriented communication is defined by the needs of the agent, thus making it a useful tool to achieve its goals. Consequently, many previous works on communication [8]}, [9]}, [10]} studied this phenomenon as selfish agents tried to manipulate the communication channel to their own advantage by sending false messages to others. Conversely, we cannot use reward-agnostic communication in mixed environments as it provides true information about the agent to both allies and competitors.
